 
 ;; Skip: explicit-ah-astar explicit-dash-astar
 
-(def ns-slow-algs [:go-dfbb :sahtn :dsh-ucs :inv-dsh-ucs :h-ucs :optimistic-ah-astar :strict-ah-astar :dijkstra :astar 
+#_(def ns-slow-algs [:go-dfbb :sahtn :dsh-ucs :inv-dsh-ucs :h-ucs :optimistic-ah-astar :strict-ah-astar :dijkstra :astar 
                    :full-ah-astar :dash-astar ;-ldfs 
                    ])
 
-(def ns-fast-algs [:dash-astar-nods :astar :dash-astar-first :dash-astar  :dash-astar-hoc :dash-astar-nos 
-                   :full-ah-astar :dash-astar-ldfs])
+(def ns-slow-algs [:go-dfbb :sahtn :dsh-ucs :inv-dsh-ucs :h-ucs :optimistic-ah-astar :strict-ah-astar :dash-astar-nods :dijkstra :astar :dash-astar-first :dash-astar  :dash-astar-hoc :dash-astar-nos 
+                   :full-ah-astar :dash-astar-ldfs 
+                   ])
+
+(def ns-fast-algs [:optimistic-ah-astar :strict-ah-astar
+                   :dash-astar-nods :dijkstra :astar :dash-astar-first :dash-astar  :dash-astar-hoc :dash-astar-nos 
+                   :full-ah-astar :dash-astar-ldfs ])
 
 
 (defn make-ns-charts []
   (let [opts (fn [t yr]
-               {:title (str "random nav-switch problems - " t " algorithms")
-                :xlabel "grid size (side length)" :ylabel "runtime (s)"
+               {:title (str "nav-switch - runtime - " t " algorithms")
+                :xlabel "grid side length" :ylabel "runtime (s)"
                 :xrange "[5:500]" :yrange yr})]
-    (make-chart @ns-results ns-slow-algs :secs (opts "slower" "[0:50]"))
-    (make-chart @ns-results ns-fast-algs :secs (opts "faster" "[0:12]"))))
+    (make-chart @ns-results ns-slow-algs :secs (opts "all" "[0:50]") nil "ns-slow.pdf")
+    (make-chart @ns-results ns-fast-algs :secs (opts "faster" "[0:9]") nil "ns-fast.pdf")))
 
 
 

    :sahtn               [sa 4  "SAHTN"]

    :h-ucs               [na 5  "H-UCS"]
    :dsh-ucs             [na 6  "DSH-LDFS"]
    :inv-dsh-ucs         [na 7  "DSH-UCS"]

    :optimistic-ah-astar [ah 8  "AH-A*-opt"]

                 :dash-astar-sh-nods :inv-dsh-ucs :dash-astar :dash-astar-ldfs
                 :dash-astar-sh-nos :dash-astar-sh-hoc  :dash-astar-sh ])

(def dm-alg-ord2 [:h-ucs :dijkstra :optimistic-ah-astar 
                 :dash-astar-sh-nods :dash-astar-sh-nos :dash-astar :dash-astar-ldfs
                   :dash-astar-sh-hoc  :dash-astar-sh
                  :sahtn :dsh-ucs :inv-dsh-ucs
                  ])

(defn make-dm-charts []
  (make-chart
   (:smaller @dm-results) dm-alg-ord :secs
   {:ylog  "t" :xtics "1" :yrange "[0.4:1000]"
    :title (str "discrete manipulation - runtime") :xlabel "\\# of objects" :ylabel "runtime (s)"}
   nil "dm-runtime.pdf")
  (make-chart
   (:smaller @dm-results) dm-alg-ord2 :all-count
   {:ylog  "t" :xtics "1" :yrange "[100:1000000]"
    :title (str "discrete manipulation - description evaluations")
    :xlabel "\\# of objects" :ylabel "\\# of evaluations"}
   (derive-median-multi 5 :all-count #(+ (:opt-count %) (:next-count %)))
   "dm-evals.pdf"))


;; note: sahtn with dijkstra, not as described.
